CN107788913A - Clean robot and its control method - Google Patents
Clean robot and its control method Download PDFInfo
- Publication number
- CN107788913A CN107788913A CN201610794100.5A CN201610794100A CN107788913A CN 107788913 A CN107788913 A CN 107788913A CN 201610794100 A CN201610794100 A CN 201610794100A CN 107788913 A CN107788913 A CN 107788913A
- Authority
- CN
- China
- Prior art keywords
- sensor
- clean robot
- robot
- detection signal
- cleaning assemblies
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000004140 cleaning Methods 0.000 claims abstract description 80
- 230000000712 assembly Effects 0.000 claims abstract description 54
- 238000000429 assembly Methods 0.000 claims abstract description 54
- 238000001514 detection method Methods 0.000 claims abstract description 47
- 230000007613 environmental effect Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000010408 sweeping Methods 0.000 description 6
- 239000000428 dust Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
A kind of clean robot and its control method, the clean robot includes robot body (100), robot body bottom is provided with dismountable cleaning assemblies, sensing unit and control unit are additionally provided with the robot body, the sensing unit includes cleaning assemblies sensor (101) and ground medium sensor (102), described control unit is according to the detection signal of cleaning assemblies sensor and ground medium sensor, the corresponding operational mode of control clean robot execution.Utilization of the present invention can detect the ground medium sensor of ground medium, the ground medium information fed back is combined with the cleaning assemblies information of clean robot, make rational planning for action, solve the problems, such as wide usage of the cleaning assemblies in multimedium floor cleaning, especially prevent carpet from being damaged by clean robot.
Description
Technical field
The present invention relates to a kind of clean robot and its control method, belongs to small household appliances manufacturing technology field.
Background technology
Existing Intelligent robot for sweeping floor can clean to ground automatically in the case where nobody looks after on the market, and
And there are multiple functions, such as can spraying-rinsing floor sweeping robot, or the sweeping robot with wet wipe floor
Deng.However, can have floor and carpet simultaneously in many home environments, the machine of sweeping the floor with cleaning or rag mopping function
People, it is very good to cleaning floor, but if when being worked on carpet, carpet can but be got wet or be made dirty.Therefore, such as
What makes sweeping robot be applied to different home environments, turns into one of those skilled in the art's urgent problem.
The content of the invention
The technical problems to be solved by the invention are in view of the shortcomings of the prior art, there is provided a kind of clean robot and its
Control method, utilization can detect the ground medium sensor of ground medium, the ground medium information and cleaner fed back
The cleaning assemblies information of device people is combined, and action of making rational planning for, the wide usage for solving cleaning assemblies in multimedium floor cleaning is asked
Topic, especially prevents carpet from being damaged by clean robot.
The technical problems to be solved by the invention are achieved by the following technical solution：
A kind of clean robot, including robot body, robot body bottom is provided with dismountable cleaning assemblies, described
Sensing unit and control unit are additionally provided with robot body, the sensing unit includes cleaning assemblies sensor and ground medium
Sensor, described control unit control cleaning machine according to the detection signal of cleaning assemblies sensor and ground medium sensor
People performs corresponding operational mode.
Preferably, the operational mode, which includes, avoids walking mode, and control unit judges what ground medium sensor was sent
Detection signal is carpet signal, while when control unit judges detection signal that cleaning assemblies sensor is sent for rag signal,
Control unit control clean robot, which enters, avoids walking mode.
Preferably, the operational mode includes the walking mode that mops floor, and control unit judges what ground medium sensor was sent
Detection signal for ground partitioned signal, while judge cleaning assemblies sensor send detection signal for rag signal when, control unit
Control clean robot enters the walking mode that mops floor.
Preferably, the operational mode includes carpet cleaning mode, and control unit judges what ground medium sensor was sent
Detection signal is carpet signal, while when the detection signal that sends of cleaning assemblies sensor is without rag signal, control unit control
Clean robot enters carpet cleaning mode.
Preferably, the sensing unit also includes environmental sensor, and the environmental sensor is used to identify clean robot
The region landform on periphery that works and/or the position of determination clean robot, and the detection signal of environmental sensor is sent to control
Unit processed.
Preferably, using the direction of travel of clean robot as front, the ground medium sensor is arranged on robot master
Body front end, cleaning assemblies are arranged on the rear of ground medium sensor.
The present invention also provides a kind of control method of clean robot as described above, comprises the following steps：
Step 10：Clean robot performs cleaning, and ground medium sensor detects the type of ground medium, cleaning group
Whether part sensor detection robot body installs the cleaning assemblies, and detection signal is sent into control unit；
Step 20：The detection signal of ground medium sensor is carpet signal, and the detection of cleaning assemblies sensor is believed
When number including rag and/or nozzle signal, control unit controls clean robot to enter and avoids walking mode according to detection signal.
In summary, utilization of the present invention can identify the ground medium sensor of ground medium, and the ground fed back is situated between
Matter information is combined with the cleaning assemblies information of clean robot, action of making rational planning for, solves cleaning assemblies on multimedium ground
The wide usage problem of cleaning, especially prevents carpet from being damaged by clean robot.
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is described in detail.
Brief description of the drawings
Fig. 1 is the structure top view of clean robot of the present invention；
Fig. 2 is the sectional view that cleaning assemblies includes clean robot during rag；
Fig. 3 be cleaning assemblies without rag when clean robot sectional view.
Embodiment
Fig. 1 is the structure top view of clean robot of the present invention；Fig. 2 is that cleaning assemblies includes clean robot during rag
Sectional view；Fig. 3 be cleaning assemblies without rag when clean robot sectional view.As shown in Figure 1 to Figure 3, the present invention provides a kind of
Clean robot, including robot body 100, the bottom of robot body 100 are provided with dismountable cleaning assemblies, different cleanings
Component can help clean robot to complete different cleanings, and the cleaning assemblies can for example include rag 200, nozzle
Deng.
The robot body 100 is provided with driver element, vacuum unit, sensing unit and control unit etc., the drive
Moving cell is used to drive clean robot to walk, and vacuum unit is used to produce suction, and sensing unit is used to detect clean robot
The state and working environment of itself, control unit are used to control clean robot to work.Clean robot passes through true in the present invention
Dummy cell produces suction, and to suck the dust on surface to be cleaned, dust enters collection device.
The driver element includes motor and the driving wheel driven by motor.Sensing unit includes cleaning assemblies
Sensor 101, whether cleaning assemblies is provided with clean robot for detecting, and detection signal is sent to control unit.Such as
Whether it is prior art provided with cleaning assemblies on what detection clean robot, for details, reference can be made in Patent No. CN101297267B
Disclosed technical scheme, will not be repeated here.Sensing unit also includes ground medium sensor 102, for detecting ground medium
Type, it, which can tell, whether there is carpet on ground, and detection signal is sent into control unit.The ground medium
The specific method of sensor detection carpet can be found in Patent No. Unexamined Patent 7-313418 Japan Patent, will not be repeated here.
Using the direction of travel of clean robot as front, the ground medium sensor 102 is preferably located on robot body front end,
Cleaning assemblies is arranged on the rear of ground medium sensor 102.Specifically, the ground medium sensor 102 be arranged on it is described
The front side of driving wheel.
Further, the sensing unit can also include environmental sensor, and the environmental sensor can detect cleaning
The region landform on robot work periphery and/or the position for determining clean robot, so as to draw out working map, and by the ring
The detection signal of border sensor is sent to control unit, helps clean robot programme path or working method.So as to enter one
Step lifting operating efficiency.
The detection signal of heretofore described control unit receiving sensing unit, according to cleaning assemblies sensor 101 and ground
The detection signal of face medium sensor 102, control clean robot perform corresponding operational mode.
The operational mode includes the walking mode that mops floor, and control unit judges the detection that ground medium sensor 102 is sent
Signal is ground partitioned signal, and when control unit judges the detection signal of the transmission of cleaning assemblies sensor 101 for rag signal, control is single
Member control clean robot enters the walking mode that mops floor.
The operational mode includes carpet cleaning mode, and control unit judges the detection that ground medium sensor 102 is sent
Signal is carpet signal, and when control unit judges the detection signal of the transmission of cleaning assemblies sensor 101 without rag signal, control is single
Member control clean robot enters carpet cleaning mode.
The operational mode, which includes, avoids walking mode, and control unit judges the detection that ground medium sensor 102 is sent
Signal is carpet signal, while when control unit judges detection signal that cleaning assemblies sensor 101 is sent for rag signal, is controlled
Unit control clean robot processed, which enters, avoids walking mode.
For example, clean robot bottom is provided with suction inlet, and round brush is provided with suction inlet, under carpet cleaning mode, improves
Power of motor, or reduce the height of suction inlet etc..
Specifically, in the present invention, when the type of ground medium mismatches with cleaning assemblies, control unit control cleaning
Robot, which enters, avoids walking mode, so as to prevent clean robot from damaging ground medium.Carpet be present for example, working as on ground,
When clean robot is provided with cleaning assemblies such as rag 200 and/or nozzle, carpet can be made or be got wet to this kind of cleaning assemblies dirty, i.e.,
The type of ground medium mismatches with cleaning assemblies, the alarm of now control unit control clean robot or avoidance；Work as cleaner
When the cleaning assemblies is not installed on device people, no matter whether there is carpet on ground, clean robot all presses former walking mode row
Walk.You need to add is that clean robot alarm can be realized by the warning device being arranged on clean robot, the report
Alarm device can send sound or light；The avoidance walking mode is that clean robot is retreated or turned to etc. and avoids
The action of carpet；The former walking mode is not by cleaning assemblies sensor 101 and the detection signal shadow of ground medium sensor 102
Clean robot walking mode under loud control unit control, i.e., mould is cleaned in the walking of traditional clean robot in the prior art
Formula, its walk cleaning when control unit will not comprehensive descision cleaning assemblies sensor 101 and ground medium sensor 102 detection
Signal, also according to the detection signal of cleaning assemblies sensor 101 and ground medium sensor 102 clean robot can not be controlled to move
Make, above-mentioned former walking mode is prior art, be will not be repeated here.
The control method of clean robot is as follows in the present invention：
Step 10：Clean robot performs cleaning, and ground medium sensor 102 detects the type of ground medium, clearly
Clean component sensors 101 detect whether robot body installs the cleaning assemblies, and detection signal is sent into control unit；
Step 20：The detection signal of ground medium sensor 102 is carpet signal, and cleaning assemblies sensor 101
When detection signal includes rag 200 and/or nozzle signal, control unit controls clean robot to enter and avoided according to detection signal
Walking mode.
In summary, the present invention, which provides a kind of clean robot and its control method, utilization, can detect ground medium
Ground medium sensor, the ground medium information fed back are combined with the cleaning assemblies information of clean robot, made rational planning for
Action, solves the problems, such as wide usage of the cleaning assemblies in multimedium floor cleaning, especially prevents carpet by clean robot
Damage；Meanwhile installed the sweeping robot of environmental sensor additional, floor cleaning will be made highly efficient.
Claims (7)
1. a kind of clean robot, including robot body (100), robot body bottom is provided with dismountable cleaning assemblies,
Characterized in that, being additionally provided with sensing unit and control unit on the robot body, the sensing unit includes cleaning assemblies
Sensor (101) and ground medium sensor (102), described control unit sense according to cleaning assemblies sensor and ground medium
The detection signal of device, control clean robot perform corresponding operational mode.
2. clean robot as claimed in claim 1, it is characterised in that the operational mode, which includes, avoids walking mode, control
The detection signal that unit judges ground processed medium sensor (102) is sent is carpet signal, while control unit judges cleaning group
When the detection signal that part sensor (101) is sent is rag signal, control unit control clean robot, which enters, avoids walking mould
Formula.
3. clean robot as claimed in claim 1, it is characterised in that the operational mode includes the walking mode that mops floor, control
The detection signal that unit judges ground processed medium sensor (102) is sent is ground partitioned signal, while judges cleaning assemblies sensor
(101) when the detection signal sent is rag signal, control unit control clean robot enters the walking mode that mops floor.
4. clean robot as claimed in claim 1, it is characterised in that the operational mode includes carpet cleaning mode, control
The detection signal that unit judges ground processed medium sensor (102) is sent is carpet signal, while cleaning assemblies sensor (101)
When the detection signal of transmission is without rag signal, control unit control clean robot enters carpet cleaning mode.
5. clean robot as claimed in claim 1, it is characterised in that the sensing unit also includes environmental sensor, institute
State environmental sensor and be used for the region landform for identifying clean robot work periphery and/or the position for determining clean robot, and
The detection signal of environmental sensor is sent to control unit.
6. clean robot as claimed in claim 1, it is characterised in that using the direction of travel of clean robot as front, institute
State ground medium sensor (102) and be arranged on robot body (100) front end, cleaning assemblies is arranged on ground medium sensor
Rear.
A kind of 7. control method of clean robot, it is characterised in that the clean robot includes robot body (100),
Robot body bottom is provided with dismountable cleaning assemblies, and sensing unit and control unit are additionally provided with the robot body,
The sensing unit includes cleaning assemblies sensor (101) and ground medium sensor (102), and the control method includes as follows
Step：
Step 10：Clean robot performs cleaning, and ground medium sensor (102) detects the type of ground medium, cleaning
Whether component sensors (101) detection robot body installs the cleaning assemblies, and detection signal is sent into control unit；
Step 20：The detection signal of ground medium sensor (102) is carpet signal, and cleaning assemblies sensor (101)
When detection signal includes rag (200) and/or nozzle signal, control unit controls clean robot to enter and kept away according to detection signal
Allow walking mode.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610794100.5A CN107788913A (en) | 2016-08-31 | 2016-08-31 | Clean robot and its control method |
| PCT/CN2017/099834 WO2018041191A1 (en) | 2016-08-31 | 2017-08-31 | Cleaning robot and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610794100.5A CN107788913A (en) | 2016-08-31 | 2016-08-31 | Clean robot and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107788913A true CN107788913A (en) | 2018-03-13 |
Family
ID=61300060
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610794100.5A Pending CN107788913A (en) | 2016-08-31 | 2016-08-31 | Clean robot and its control method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107788913A (en) |
| WO (1) | WO2018041191A1 (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814441A (en) * | 2018-06-28 | 2018-11-16 | 芜湖泰领信息科技有限公司 | Cleaning brush self cleaning method and intelligent sweeping machine |
| CN108968812A (en) * | 2018-06-28 | 2018-12-11 | 芜湖泰领信息科技有限公司 | The sweeper and cleaning head automatic switching method of automatic conversion cleaning head |
| CN108968813A (en) * | 2018-06-28 | 2018-12-11 | 芜湖泰领信息科技有限公司 | The sweeper of automatic conversion cleaning head |
| CN108992003A (en) * | 2018-06-28 | 2018-12-14 | 芜湖泰领信息科技有限公司 | The sweeper and cleaning head automatic switching method of automatic conversion cleaning head |
| CN109077675A (en) * | 2018-06-28 | 2018-12-25 | 芜湖泰领信息科技有限公司 | The sweeper and its automatic cleaning method of automated cleaning |
| CN109875466A (en) * | 2018-04-18 | 2019-06-14 | 松下家电研究开发（杭州）有限公司 | A kind of wiping ground method of mopping robot |
| WO2019174084A1 (en) * | 2018-03-14 | 2019-09-19 | 深圳市沃特沃德股份有限公司 | Sweeping method and apparatus, and sweeping robot |
| CN110547727A (en) * | 2019-08-14 | 2019-12-10 | 深圳市银星智能科技股份有限公司 | Fluid applying method for cleaning robot and cleaning robot |
| CN110870721A (en) * | 2019-11-26 | 2020-03-10 | 上海高仙自动化科技发展有限公司 | Control method and device for cleaning robot, cleaning robot and storage medium |
| CN111103875A (en) * | 2018-10-26 | 2020-05-05 | 科沃斯机器人股份有限公司 | Method, apparatus and storage medium for avoiding |
| WO2020125774A1 (en) | 2018-12-21 | 2020-06-25 | 苏州宝时得电动工具有限公司 | Robotic cleaning system, base station, and control method |
| CN111938510A (en) * | 2019-05-17 | 2020-11-17 | 广东宝乐机器人股份有限公司 | Cleaning robot, surface type detection method and control method |
| US10925447B2 (en) | 2017-03-10 | 2021-02-23 | Sharkninja Operating Llc | Agitator with debrider and hair removal |
| WO2021036072A1 (en) * | 2019-08-26 | 2021-03-04 | 苏州宝时得电动工具有限公司 | Cleaning robot and control method therefor |
| CN113303707A (en) * | 2020-02-27 | 2021-08-27 | 北京石头世纪科技股份有限公司 | Carpet identification method for cleaning robot |
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| CN114571472A (en) * | 2020-12-01 | 2022-06-03 | 北京小米移动软件有限公司 | Ground attribute detection method and driving method for foot type robot and device thereof |
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| CN108968812A (en) * | 2018-06-28 | 2018-12-11 | 芜湖泰领信息科技有限公司 | The sweeper and cleaning head automatic switching method of automatic conversion cleaning head |
| CN108992003A (en) * | 2018-06-28 | 2018-12-14 | 芜湖泰领信息科技有限公司 | The sweeper and cleaning head automatic switching method of automatic conversion cleaning head |
| CN108968813A (en) * | 2018-06-28 | 2018-12-11 | 芜湖泰领信息科技有限公司 | The sweeper of automatic conversion cleaning head |
| CN109077675A (en) * | 2018-06-28 | 2018-12-25 | 芜湖泰领信息科技有限公司 | The sweeper and its automatic cleaning method of automated cleaning |
| CN108968812B (en) * | 2018-06-28 | 2021-06-29 | 芜湖泰领信息科技有限公司 | Sweeper capable of automatically switching cleaning heads and cleaning head automatic switching method |
| CN111103875A (en) * | 2018-10-26 | 2020-05-05 | 科沃斯机器人股份有限公司 | Method, apparatus and storage medium for avoiding |
| WO2020125774A1 (en) | 2018-12-21 | 2020-06-25 | 苏州宝时得电动工具有限公司 | Robotic cleaning system, base station, and control method |
| CN111938510A (en) * | 2019-05-17 | 2020-11-17 | 广东宝乐机器人股份有限公司 | Cleaning robot, surface type detection method and control method |
| CN110547727A (en) * | 2019-08-14 | 2019-12-10 | 深圳市银星智能科技股份有限公司 | Fluid applying method for cleaning robot and cleaning robot |
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| CN114641229A (en) * | 2019-08-26 | 2022-06-17 | 苏州宝时得电动工具有限公司 | Cleaning robot and control method thereof |
| WO2021036072A1 (en) * | 2019-08-26 | 2021-03-04 | 苏州宝时得电动工具有限公司 | Cleaning robot and control method therefor |
| WO2021037065A1 (en) * | 2019-08-26 | 2021-03-04 | 苏州宝时得电动工具有限公司 | Cleaning robot and control method therefor |
| CN110870721A (en) * | 2019-11-26 | 2020-03-10 | 上海高仙自动化科技发展有限公司 | Control method and device for cleaning robot, cleaning robot and storage medium |
| CN113303707A (en) * | 2020-02-27 | 2021-08-27 | 北京石头世纪科技股份有限公司 | Carpet identification method for cleaning robot |
| CN114980787A (en) * | 2020-03-25 | 2022-08-30 | 科德宝两合公司 | Method for identifying a substrate |
| CN114980787B (en) * | 2020-03-25 | 2024-01-26 | 科德宝两合公司 | Method and assembly for identifying a substrate |
| CN114571472A (en) * | 2020-12-01 | 2022-06-03 | 北京小米移动软件有限公司 | Ground attribute detection method and driving method for foot type robot and device thereof |
| CN114571472B (en) * | 2020-12-01 | 2024-01-23 | 北京小米机器人技术有限公司 | Ground attribute detection method and driving method for foot robot and device thereof |
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| WO2018041191A1 (en) | 2018-03-08 |
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